Robotic map building by fusing ICP and PSO algorithms

Yin Yu Lu, Chen-Chien James Hsu, Hua En Chang, Wen Chung Kao

Research output: Contribution to journalConference article

2 Citations (Scopus)

Abstract

This paper proposes the use of Particle Swarm Optimization (PSO) to work with an Enhanced-ICP to effectively filter out outliers and avoid false matching points during the map building of an unknown environment, where PSO is used to solve the local optima problem to obtain better transformation results for two data sets with excessive difference in initial position and direction. Then, we use part of global map as the reference data set with overlapping points for subsequent data matching. Experimental results show that the proposed algorithm not only solves outlier and noise problems but also reduces false matching points so that it has better alignment and smaller accumulated errors for map building.

Original languageEnglish
Article number7034273
Pages (from-to)263-265
Number of pages3
JournalIEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin
Volume2015-February
Issue numberFebruary
DOIs
Publication statusPublished - 2015 Jan 1
Event2014 4th IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin - Berlin, Germany
Duration: 2014 Sep 72014 Sep 10

Fingerprint

Particle swarm optimization (PSO)
Robotics

Keywords

  • Iterative Closest Point
  • Map Building
  • Mobile Robot
  • Particle Swarm Optimization

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering
  • Media Technology

Cite this

Robotic map building by fusing ICP and PSO algorithms. / Lu, Yin Yu; Hsu, Chen-Chien James; Chang, Hua En; Kao, Wen Chung.

In: IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin, Vol. 2015-February, No. February, 7034273, 01.01.2015, p. 263-265.

Research output: Contribution to journalConference article

Lu, Yin Yu ; Hsu, Chen-Chien James ; Chang, Hua En ; Kao, Wen Chung. / Robotic map building by fusing ICP and PSO algorithms. In: IEEE International Conference on Consumer Electronics - Berlin, ICCE-Berlin. 2015 ; Vol. 2015-February, No. February. pp. 263-265.
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